Robot for traversing obstacles

Abstract

Aspects of the present disclosure include methods, apparatuses, and computer readable media of traversing an obstacle including receiving optical data associated with an area near the robot, identifying the obstacle in the area based on the optical data, deflating, in response to identifying the obstacle, a ball of the robot, and applying a downward force through the deflated ball to propel the robot over the obstacle.

What is claimed is: 
     
       1. A method of traversing an obstacle by a robot comprising:
 receiving optical data associated with an area near the robot; 
 identifying the obstacle in the area based on the optical data; 
 deflating, in response to identifying the obstacle, a ball of the robot; and 
 applying a downward force through the deflated ball to propel the robot over the obstacle. 
 
     
     
       2. The method of  claim 1 , comprising scanning the area with one or more photodetectors prior to receiving the optical data. 
     
     
       3. The method of  claim 1 , wherein the obstacle is a stair case. 
     
     
       4. The method of  claim 1 , comprising, inflating the ball after applying the downward force to propel the robot. 
     
     
       5. The method of  claim 4 , comprising rotating the ball to move the robot. 
     
     
       6. The method of  claim 4 , comprising:
 receiving second optical data associated with a second area near the robot; 
 identifying a drop-off in the second area based on the second optical data; and 
 applying a second downward force through the inflated ball to propel the robot into the drop-off. 
 
     
     
       7. A robot comprising:
 a rotatable ball; 
 a photodetector that receives optical data associated with an area near the robot; 
 a pump assembly that inflates or deflates the rotatable ball; 
 a pedestal assembly that applies a downward force; and 
 a controller having a processor communicatively coupled with a memory having instructions stored therein, wherein the processor executes the instructions to:
 receive the optical data associated with the area near the robot from the photodetector; 
 identify the obstacle in the area based on the optical data received by the photodetector; 
 transmit a first control signal to the pump assembly to deflate, in response to identifying the obstacle, the rotatable ball of the robot; and 
 transmit a second control signal to the pedestal assembly to apply the downward force through the deflated ball to propel the robot over the obstacle. 
 
 
     
     
       8. The robot of  claim 7 , comprising a battery that supplies electrical energy to the robot. 
     
     
       9. The robot of  claim 7 , comprising a drive assembly that rotates the rotatable ball to move the robot. 
     
     
       10. The robot of  claim 9 , comprising a gyroscope. 
     
     
       11. The robot of  claim 10 , wherein the processor executes the instructions to:
 receive orientation data from the gyroscope; 
 detect, via the orientation data, a top portion of the robot leaning toward a direction; and 
 transmit a third control signal to the drive assembly to rotate the rotatable ball to move the robot toward the direction. 
 
     
     
       12. The robot of  claim 7 , wherein the obstacle is a barrier. 
     
     
       13. The robot of  claim 7 , wherein the processor further executes the instructions to:
 transmit a third control signal to the photodetector to receive second optical data associated with a second area near the robot; 
 identify a drop-off in the second area based on the second optical data; 
 transmit a fourth control signal to the pump assembly to inflate the deflated ball transmit a fifth control signal to the pedestal assembly to apply a second downward force through the inflated ball to propel the robot into the drop-off. 
 
     
     
       14. The robot of  claim 7 , further comprising a communication interface that wirelessly communicates with one or more external devices. 
     
     
       15. The robot of  claim 7 , wherein the photodetector is disposed on a dome of the robot or on the ball of the robot. 
     
     
       16. A non-transitory computer readable medium having instructions stored therein that, when executed by a processor of a robot, cause the processor to:
 receive optical data associated with an area near the robot from a photodetector; 
 identifying an obstacle in the area based on the optical data received by the photodetector; 
 transmit a first control signal to the pump assembly to deflate, in response to identifying the obstacle, a rotatable ball of the robot; and 
 transmit a second control signal to the pedestal assembly to apply the downward force through the deflated ball to propel the robot over the obstacle. 
 
     
     
       17. The non-transitory computer readable medium of  claim 16 , further comprising instructions stored therein that, when executed by the processor, cause the processor to transmit a third control signal to the photodetector to scan the area prior to receiving the optical data. 
     
     
       18. The non-transitory computer readable medium of  claim 16 , further comprising instructions stored therein that, when executed by the processor, cause the processor to transmit a fourth control signal to the pump assembly to inflate the ball after the pedestal assembly applies the downward force. 
     
     
       19. The non-transitory computer readable medium of  claim 18 , further comprising instructions stored therein that, when executed by the processor, cause the processor to transmit a fifth control signal to a drive assembly to rotate the ball to move the robot. 
     
     
       20. The non-transitory computer readable medium of  claim 18 , further comprising instructions stored therein that, when executed by the processor, cause the processor to:
 transmit a fifth control signal to the photodetector to receive second optical data associated with a second area near the robot; 
 identify a drop-off in the second area based on the second optical data; and 
 transmit a sixth control signal to the pedestal assembly to apply a second downward force through the inflated ball to propel the robot into the drop-off.